Heat oven to 300°F. In 12-inch skillet, heat 1 tablespoon of the oil over medium-high heat. Cook garlic in oil 1 minute or until golden. In 4-quart Dutch oven, place garlic and onion.
In resealable food-storage plastic bag, place beef and flour; seal bag and toss to coat. In same skillet, heat 1 tablespoon oil over medium-high heat. Add half of beef; brown on all sides. Transfer beef to Dutch oven. Repeat with remaining 1 tablespoon oil and beef.
Add broth to skillet; heat to boiling, scraping to loosen brown particles. Pour over beef mixture. Stir in water, 2 teaspoons rosemary, the salt, pepper, bay leaves and parsnips.
Cover; bake 3 hours. Stir sweet potatoes into stew. Cover; bake 1 hour longer or until beef and vegetables are tender. Remove bay leaves before serving. Garnish with additional rosemary.